Safe Torque-Off Status - Allen-Bradley Kinetix 5700 User Manual

Table 151 - Safety Related Axis Tags
Logix Designer Tag Name
AxisFaults
GuardFaultStatus
SafetyFaultStatus
ModuleFaults
GuardStatus
GuardOKStatus
GuardGateDriveOutputStatus
GuardStopInputStatus
GuardStopRequestStatus
GuardFault
GuardStopInputFault
GuardGateDriveFault
CIPAxisFaultsRA
SafetyModuleCommunicationErrorFault
CIPAxisAlarmsRA
SafetyModuleCommunicationErrorAlarm
CIPInitializationFaultsRA
InvalidSafetyFirmwareFault
CIPStartInhibits
SafeTorqueOffActiveInhibit
CIPStartInhibitsRA
SafeTorqueOffInhibit
AxisSafetyState
(1)
AxisSafetyStatus
SafetyFaultStatus
SafetyResetRequestStatus
SafetyResetRequiredStatus
SafeTorqueOffActiveStatus

Safe Torque-off Status

This section describes the safety related status data that is available to the
motion controller.
IMPORTANT The status data described in this section is STANDARD data (not SAFETY
data) and cannot be used as part of a safety function.
When a Kinetix 5700 add on profile (AOP) is added to a Logix Designer
application I/O tree, axis tags are added to the controller tags.
This table lists the safety related STANDARD tags that are added when a new
AXIS_CIP_DRIVE axis is defined.
Attribute [bit] Type
34 DINT
[5] BOOL
[8] BOOL
163 DINT
980 DINT
[0] BOOL
[2] BOOL
[3] BOOL
[4] BOOL
981 DINT
[9] BOOL
[2] BOOL
903 DINT
[28] BOOL
904 DINT
[28] BOOL
910 DINT
[14] BOOL
676 DINT
[5] BOOL
912 DINT
[5] BOOL
760 DINT
761 DINT
[0] BOOL
[1] BOOL
[2] BOOL
[3] BOOL
Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Kinetix 5700 Safe Torque-off Function
Description
STO fault - Hardwired
STO fault - Integrated
Not STO fault - Hardwired
Torque allowed - Hardwired
Safety inputs active - Hardwired
Safety input requesting STO - Hardwired
STO fault - Hardwired
Internal STO circuit fault - Hardwired
Loss of communication to safety control
Loss of communication to safety control
Invalid safety control firmware
Torque disabled - Integrated
Torque disabled - Hardwired
Safety supervisor state
Status of SI.SafetyFault
Status of SO.Reset or SO.ResetRequest
Status of SI.ResetRequired
Status of SO.SafeTorqueOff or SO.STOOutput
Chapter 9
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